documentation?

[dannyway03]

Hi,
do you have some documentation (or reference paper) describing the approach/performance?

I got across this other related work "An Open Source, Fiducial Based, Visual-Inertial
Motion Capture System", and I would be curious to compare the 2 systems. While in the reference they use a EKF for imu+camera sensor fusion, in your code it seems you use NLS optimization of camera observations only. Would you find it feasible to include IMU motion constraints?
I believe this would significantly beneficial.

thanks,
-d

[petergerten]

I would also be very interested in documentation as well as comparison with the "An Open Source, Fiducial Based, Visual-Inertial Motion Capture System" project.